# -*- encoding: UTF-8 -*-

import almath
import time
import argparse
from naoqi import ALProxy


def main(robotIP, PORT=9559):
    motionProxy = ALProxy("ALMotion", robotIP, PORT)

    motionProxy.setStiffnesses("Head", 1.0)

    # Example showing a single target angle for one joint
    # Interpolates the head yaw to 1.0 radian in 1.0 second
    print ("转角50度")
    names = "HeadYaw"
    angleLists = 50.0 * almath.TO_RAD
    # angleLists = 119*almath.TO_RAD
    timeLists = 1.0
    isAbsolute = True
    motionProxy.angleInterpolation(names, angleLists, timeLists, isAbsolute)

    time.sleep(1.0)

    # Example showing a single trajectory for one joint
    # Interpolates the head yaw to 1.0 radian and back to zero in 2.0 seconds
    print ("转角30度")
    names = "HeadYaw"
    #              2 angles
    angleLists = [30.0 * almath.TO_RAD, 0.0]
    #              2 times
    timeLists = [1.0, 2.0]
    isAbsolute = True
    motionProxy.angleInterpolation(names, angleLists, timeLists, isAbsolute)

    time.sleep(1.0)

    # Example showing multiple trajectories
    print ("头转向30度，头点头30度")
    names = ["HeadYaw", "HeadPitch"]
    angleLists = [30.0 * almath.TO_RAD, 30.0 * almath.TO_RAD]
    timeLists = [1.0, 1.2]
    isAbsolute = True
    motionProxy.angleInterpolation(names, angleLists, timeLists, isAbsolute)

    # Example showing multiple trajectories
    # Interpolates the head yaw to 1.0 radian and back to zero in 2.0 seconds
    # while interpolating HeadPitch up and down over a longer period.
    names = ["HeadYaw", "HeadPitch"]
    # Each joint can have lists of different lengths, but the number of
    # angles and the number of times must be the same for each joint.
    # Here, the second joint ("HeadPitch") has three angles, and
    # three corresponding times.
    angleLists = [[50.0 * almath.TO_RAD, 0.0],
                  [-30.0 * almath.TO_RAD, 30.0 * almath.TO_RAD, 0.0]]
    timeLists = [[1.0, 2.0], [1.0, 2.0, 3.0]]
    isAbsolute = True
    motionProxy.angleInterpolation(names, angleLists, timeLists, isAbsolute)

    motionProxy.setStiffnesses("Head", 0.0)


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="192.168.1.100",
                        help="Robot ip address")
    parser.add_argument("--port", type=int, default=9559,
                        help="Robot port number")

    args = parser.parse_args()
    main(args.ip, args.port)
